# Highly Durable Bidirectional Joint With Twisted String Actuators and Variable Radius Pulley

> Research article (IEEE/ASME Transactions on Mechatronics, 2019) · cited 31× · AI/ML

**Wikidata**: [openalex:W2996650081](https://www.wikidata.org/wiki/openalex:W2996650081)  
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